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Commit bfe40fb1 authored by alexander's avatar alexander
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cs pp yaml modify

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scripts/total_yamls/total_pointcloud_detectors.yaml
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node1: node1:
MAX_POINTS_ALLOWED: 400000 MAX_NUM_VOXELS: 50000
MAX_NUM_VOXELS: 150000
MAX_ACTIVE: 400000 MAX_ACTIVE: 400000
MAX_NUM_POINTS_PER_VOXEL: 12 MAX_NUM_POINTS_PER_VOXEL: 32
NUM_HAND_CRAFTED_FEATURES: 10
NUM_CLASS: 5 NUM_CLASS: 5
SCORE_THRESHOLD: 0.4 SCORE_THRESHOLD: 0.3
NMS_OVERLAP_THRESHOLD: 0.1 NMS_OVERLAP_THRESHOLD: 0.1
NUM_THREADS: 64 NUM_THREADS: 64
BATCH_SIZE: 1 BATCH_SIZE: 1
RPN_ENGINE_FILE: s
PFE_ENGINE_FILE: s
VOXEL_SIZES: [0.1, 0.1, 0.125] # cp voxel VOXEL_SIZES: [0.2, 0.2, 5]
GRID_SIZES: [3072, 3072, 40] # xyz GRID_SIZES: [1000, 1000, 1]
PC_RANGE: [-153.6, -153.6,-7,153.6,153.6, -2] PC_RANGE: [-100,-100,-7,100,100,-2]
DS_RATIO: 8 # ratio of GRID_SIZES to BEV_FEATURE_SIZE DS_RATIO: 4
BEV_FEATURE_SIZE: [384, 384, 256] # x y c BEV_FEATURE_SIZE: [250, 250, 64]
RPN_ONNX_FILE: unified_35_and_chengdu_50_pillar_bb.onnx
RPN_ONNX_FILE: cs.onnx PFE_ONNX_FILE: unified_35_and_chengdu_50_pillar_pfe_50000.onnx
CUTCONV_WEIGHTS: cs.weights USEENGINE: False
NUM_HEAD: 1
ORIGIN2KITTI: [[0.050645,-0.000283,0.998717,-81.275970,], NUM_HEAD_FEAT: 5
[-0.011183,-0.999937,0.000283,7.052648,], ORIGIN2KITTI: [[0.999750,-0.000158,-0.022344,-43.366158,],
[0.998654,-0.011183,-0.050645,0.800000,], [-0.000158,0.999900,-0.014170,4.965493,],
[0.000000,0.000000,0.000000,1.000000,], [0.022344,0.014170,0.999650,-1.200000,],
] [0.000000,0.000000,0.000000,1.000000,],]
KITTI2ORIGIN: [[0.050645,-0.011183,0.998654,3.396167,], KITTI2ORIGIN: [[0.999750,-0.000158,0.022344,43.382930,],
[-0.000284,-0.999938,-0.011183,7.038095,], [-0.000158,0.999900,0.014170,-4.954857,],
[0.998716,0.000284,-0.050645,81.210156,], [-0.022344,-0.014170,0.999650,0.300965,],
[0.000000,0.000000,0.000000,1.000000,], [0.000000,0.000000,0.000000,1.000000,],]
]
INFER_THRESHOLD: INFER_THRESHOLD:
CLASS_0: 0.4 # truck CLASS_0: 0.4 # truck
...@@ -39,37 +40,38 @@ node1: ...@@ -39,37 +40,38 @@ node1:
CLASS_4: 0.4 # pedestrain CLASS_4: 0.4 # pedestrain
node2: node2:
MAX_POINTS_ALLOWED: 400000 MAX_NUM_VOXELS: 50000
MAX_NUM_VOXELS: 150000
MAX_ACTIVE: 400000 MAX_ACTIVE: 400000
MAX_NUM_POINTS_PER_VOXEL: 12 MAX_NUM_POINTS_PER_VOXEL: 32
NUM_HAND_CRAFTED_FEATURES: 10
NUM_CLASS: 5 NUM_CLASS: 5
SCORE_THRESHOLD: 0.4 SCORE_THRESHOLD: 0.3
NMS_OVERLAP_THRESHOLD: 0.1 NMS_OVERLAP_THRESHOLD: 0.1
NUM_THREADS: 64 NUM_THREADS: 64
BATCH_SIZE: 1 BATCH_SIZE: 1
RPN_ENGINE_FILE: s
PFE_ENGINE_FILE: s
VOXEL_SIZES: [0.1, 0.1, 0.125] # cp voxel VOXEL_SIZES: [0.2, 0.2, 5]
GRID_SIZES: [3072, 3072, 40] # xyz GRID_SIZES: [1000, 1000, 1]
PC_RANGE: [-153.6, -153.6,-7,153.6,153.6, -2] PC_RANGE: [-100,-100,-7,100,100,-2]
DS_RATIO: 8 # ratio of GRID_SIZES to BEV_FEATURE_SIZE DS_RATIO: 4
BEV_FEATURE_SIZE: [384, 384, 256] # x y c BEV_FEATURE_SIZE: [250, 250, 64]
RPN_ONNX_FILE: unified_35_and_chengdu_50_pillar_bb.onnx
RPN_ONNX_FILE: cs.onnx PFE_ONNX_FILE: unified_35_and_chengdu_50_pillar_pfe_50000.onnx
CUTCONV_WEIGHTS: cs.weights USEENGINE: False
NUM_HEAD: 1
ORIGIN2KITTI: [[0.999907,-0.000186,-0.013612,63.010513,], NUM_HEAD_FEAT: 5
[-0.000186,0.999629,-0.027250,12.516913,], ORIGIN2KITTI: [[0.976220,-0.002876,0.216762,-52.130093,],
[0.013612,0.027250,0.999536,-1.600000,], [-0.002876,0.999652,0.026214,5.534293,],
[0.000000,0.000000,0.000000,1.000000,], [-0.216762,-0.026214,0.975873,0.400000,],
] [0.000000,0.000000,0.000000,1.000000,],]
KITTI2ORIGIN: [[0.999907,-0.000186,0.013612,-62.980574,], KITTI2ORIGIN: [[0.976220,-0.002876,-0.216762,50.993078,],
[-0.000186,0.999629,0.027250,-12.456976,], [-0.002876,0.999652,-0.026214,-5.671799,],
[-0.013612,-0.027250,0.999536,2.798023,], [0.216762,0.026214,0.975873,10.764374,],
[0.000000,0.000000,0.000000,1.000000,], [0.000000,0.000000,0.000000,1.000000,],]
]
INFER_THRESHOLD: INFER_THRESHOLD:
CLASS_0: 0.4 # truck CLASS_0: 0.4 # truck
......
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